掘锚一体机远程控制技术在冲击地压矿井快速掘进中的应用

Application of Remote Control Technology of All-in-one Digging and Anchoring Machine in Rapid Excavation of Rock Burst Mine

为了精准、高效地确定掘锚一体机的控制量和控制方向,保证掘进安全性,优化设计冲击地压矿井快速掘进方法。通过分析矿井的内在、应力和结构条件,预测矿井冲击地压。基于掘锚一体机组成结构、运动特征以及动力原理,构建掘锚一体机数学模型。根据冲击地压矿井结构和冲击地压约束条件,规划掘锚一体机掘进路径,利用设计的远程控制器控制掘锚一体机的位姿和速度,完成冲击地压矿井的快速掘进任务。测试结果表明:应用掘锚一体机远程控制技术后,冲击地压矿井的掘进裂隙面积缩小了4.87 m^(2),掘土量提高了62.9%,能够将矿压控制在16 MPa以下,在掘进质量、速度和安全性三方面具有明显优势。

In order to accurately and efficiently determine the control quantity and control direction of the all-in-one digging and anchoring machine,and ensure the tunneling safety,the rapid excavation method of the rock burst mine was optimized and designed.By analyzing the internal,stress and structural conditions of the mine,the mine rock burst was predicted.Based on the structure,motion characteristics and dynamic principle of the all-in-one digging and anchoring machine,the mathematical model of the all-in-one digging and anchoring machine was established.According to the structure of rock burst mine and the constraint conditions of rock burst,the excavation path of the all-in-one digging and anchoring machine was planned,and the designed remote controller was used to control the position,attitude and speed of the all-in-one digging and anchoring machine,so as to complete the rapid excavation task of rock burst mine.The test results show that after the application of the remote control technology of the all-in-one digging and anchoring machine,the excavation fissure area of the rock burst mine is reduced by 4.87 m^(2),and the excavation volume is increased by 62.9%,which can control the ground pressure below 16 MPa,which has obvious advantages in the three aspects of excavation quality,speed and safety.